The origin ofPASRO (Trademark ofBIOMATIK GmbH, Freiburg, FRG) was a set of pro cedures for performing arithmetic on geometric data types and for coordinate transforma tion for study and teaching purposes, developed as a base for high level robot programming. The study of many robot languages revealed areas for necessary improvements: 1. Move statements must be independent of a specific robot control system. They must instead be based on the different types of trajectory calculation resp. interpolation. 2. A structured language concept should be employed, including a structured concept for concurrent programming (The latter is not yet implemented in PASRO owing to the use of Standard PASCAL instead of CONCURRENT PASCAL or MODULA 2). 3. Integration of geometric data types into existing structured data types. 4. Simplicity of language constructs. 5. Integration of teach-in via frame-files. This resulted in the implementation ofPASRO by Christian Blume (BLUME [1.1]) and in the joint development of the SRL concept (Structured Robot Language) as it was intro duced in May 1983 at Liege (see BLUMEIJAKOB [1.2]). PASRO is at present state of the implementation a programming system for teaching, studying and experimenting and not for industrial use, although it could easily be extended for that purpose (cf paragraph 8.2). We especially thank the PSI company, Berlin, who gave us technical support to write this book, the BIOMATIK company ofFreiburg, which is marketing PASRO, its manager G. R. Koch, and the University of Karlsruhe, Prof. Dr.-Ing. U. Rembold.
Auflage
Softcover reprint of the original 1st ed. 1985
Sprache
Verlagsort
Verlagsgruppe
Zielgruppe
Für höhere Schule und Studium
Für Beruf und Forschung
Research
Produkt-Hinweis
Illustrationen
black & white illustrations
Maße
Höhe: 24.4 cm
Breite: 17 cm
Dicke: 8 mm
Gewicht
ISBN-13
978-3-540-15120-3 (9783540151203)
DOI
10.1007/978-3-642-96883-9
Schweitzer Klassifikation
1 Introduction.- 2 Basic Facilities for Robot Programming.- 2.1 Description of Robot Position and Orientation.- 2.2 Concepts for Robot Programming Languages.- 2.2.1 Frame Concept.- 2.2.2 Trajectory Calculation and Robot Control.- 2.2.3 Robot-Specific Programming Languages.- 2.2.4 High Level Programming Languages.- 2.2.5 NC Programming.- 2.2.6 Implicit Programming.- 3 Concept of Data.- 3.1 PASCAL Data Types.- 3.1.1 Record Types.- 3.1.2 Array Types.- 3.1.3 Pointer Types.- 3.2 Predeclared PASRO Datatypes.- 3.3 PASRO Predeclared System Variables.- 3.4 Arithmetic and Procedures.- 3.4.1 Procedures and Functions.- 3.4.2 PASCAL Arithmetic.- 3.4.3 PASRO Arithmetic Procedures.- 4 Concept of Action.- 4.1 PASRO Procedures for Robot Control.- 4.2 PASRO Procedures for Gripper Control.- 4.3 Traditional Program Flow Control.- 4.3.1 Repetitive Statements.- 4.3.2 Conditional Statements.- 4.3.3 The GOTO Statement.- 5 Program Structure.- 5.1 PASCAL Program Structure.- 5.2 PASRO Structure.- 6 Input/Output.- 6.1 Traditional PASCAL I/O.- 6.2 I/O of PASRO Standard Data Types.- 6.3 Robot Control.- 6.4 Process I/O.- 7 Integration of Teach-in.- 7.1 Integration of Frames Defined by Teach-in into PASRO Programs.- 7.2 Teaching Frames by System Program "teachin".- 8 Implementation.- 8.1 General Structure.- 8.2 The Industrial PASRO Extension.- 9 How to Use the PASRO-System.- 9.1 Introduction.- 9.2 Compiling and Linking.- 9.3 Executing a PASRO Program.- 10 PASRO Program Examples.- 10.1 Palletizing.- 10.2 Five-in-a-Row-Game (Gobang or Gomoku).- 10.3 Transfer of Objects Between Robots.- 10.4 Towers of Hanoi.- 10.5 Simple World-Modelling.- 11 Appendices.- 11.1 Appendix A Summary of PASRO Procedures.- 11.2 Appendix B Pre-declared PASRO and PASCAL Identifiers.- 11.3 Appendix C PASRO Runtime Error Summary.- 11.4 Appendix D PASCAL Syntax Diagrams.- References.
